MOTION CONTROL BASED ON VELOCITY RESOLUTION OF A TROTTING QUADRUPED ROBOT

This paper proposes a control strategy based on velocity resolution for velocity and orientation tracking of a trotting quadruped robot. In trotting gait, the pair of diagonal stance legs and body of robot can be approximately modeled as a virtual planar-sevenlink mechanism and a SLIP model by projecting them into two orthogonal planes. To reduce tracking error of velocity, the foot placements are computed based on SLIP model. As there is misalignment between the centroid of body and the geometric center of body, the core of the trotting quadruped robot is switching control in the option of this paper. Based on Lyapunov theory, definition of stable region and sufficient condition of convergence of trotting quadruped robots are proposed. Finally, an experiment is performed to validate the effectiveness of proposed strategy.